Diff: test.cpp

Revision:

46:df2c2d25c070

Parent:

45:81dd782bc0b4

--- a/test.cpp	Sun Jul 28 01:52:34 2019 +0000
+++ b/test.cpp	Sun Jul 28 22:20:12 2019 +0000
@@ -108,19 +108,18 @@
 // This also tests the LineTracker by printing out a lot of data from it.
 void testLineFollowing()
 {
+    loadLineCalibration();
     doGyroCalibration();
     turnSensor.start();
 
-    led1 = 1;   
-    while(!button1DefinitelyPressed())
+    led1 = 1;
+    while (!button1DefinitelyPressed())
     {
         updateReckoner();
     }
-    led2 = 1;
     
     Pacer reportPacer(200000);
     
-    loadLineCalibration();
     uint16_t loopCount = 0;
     while(1)
     {
@@ -131,6 +130,10 @@
         
         loopCount += 1;
         
+        led2 = lineTracker.calibratedValues[0] > 500;
+        led3 = lineTracker.calibratedValues[1] > 500;
+        led4 = lineTracker.calibratedValues[2] > 500;
+
         if (lineVisiblePrevious != lineTracker.getLineVisible())
         {
             pc.printf("%5d ! %1d %4d | %5d %5d | %4d %4d %4d\r\n",
@@ -327,30 +330,36 @@
 
 void testLineSensorsAndCalibrate()
 {
-    led1 = 1;
     Pacer reportPacer(100000);
     
     const uint16_t * values = lineTracker.rawValues;
     const uint16_t * min = lineTracker.calibratedMinimum;
     const uint16_t * max = lineTracker.calibratedMaximum;
+    const uint16_t * calValues = lineTracker.calibratedValues;
+
+    // Comment this out, and hold down button 1 while exposing the line sensor
+    // to its typical surfaces to do calibration.
+    loadLineCalibration();
 
     const bool printBarGraph = true;
     while (1)
     {        
         lineTracker.read();
         
-        // Hold down button 1 and expose the line sensor to its typical
-        // values to do calibration.
         if (button1DefinitelyPressed())
         {
-            led2 = 1;
+            led1 = 0;
             lineTracker.updateCalibration();
         }
         else
         {
-            led2 = 0;
+            led1 = 1;
         }
         
+        led2 = calValues[0] > 500;
+        led3 = calValues[1] > 500;
+        led4 = calValues[2] > 500;
+        
         if (reportPacer.pace())
         {
             if (printBarGraph)